Global optimal path planning of car-like vehicles remains today an open problem especially in the presence of obstacles. In this paper, we propose a method to obtain the optimal motion of a vehicle considering kinematic and obstacle constraints. We employ an efficient algorithm (CACM), based on cell mapping techniques, to find the optimal motion laws of a car-like vehicle. Simulation results are reported to show the satisfactory performance of the method.
Optimal path planning for car-like vehicles in the presence of obstacles
2003-01-01
309460 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Optimal Path Planning for Car-Like Vehicles in the Presence of Obstacles
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